iCub

iCub is a child-like humanoid robot with 53 actuated degrees of freedom. It is equipped with two cameras, several force/torque sensors, inertial sensors and a sensitive skin with distributed tactile elements. Our version has brand new legs that make it possible balancing and walking.

In the CODYCO project, we use it to study whole-body control, physical interaction with the environment, and human-robot interaction.

In the Resibots project, we use it to test our algorithms for 4-legged crawling and 2-legged walking.

In the ANDY project, we use it to study human-robot collaboration in dynamic tasks with several constraints.